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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (c) 2010-2011, NVIDIA Corporation</span>
<a name="l00003"></a>00003 <span class="comment"> * All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> * Redistribution and use in source and binary forms, with or without</span>
<a name="l00006"></a>00006 <span class="comment"> * modification, are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"> *   * Redistributions of source code must retain the above copyright</span>
<a name="l00008"></a>00008 <span class="comment"> *     notice, this list of conditions and the following disclaimer.</span>
<a name="l00009"></a>00009 <span class="comment"> *   * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00010"></a>00010 <span class="comment"> *     notice, this list of conditions and the following disclaimer in the</span>
<a name="l00011"></a>00011 <span class="comment"> *     documentation and/or other materials provided with the distribution.</span>
<a name="l00012"></a>00012 <span class="comment"> *   * Neither the name of NVIDIA Corporation nor the</span>
<a name="l00013"></a>00013 <span class="comment"> *     names of its contributors may be used to endorse or promote products</span>
<a name="l00014"></a>00014 <span class="comment"> *     derived from this software without specific prior written permission.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<a name="l00017"></a>00017 <span class="comment"> * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00018"></a>00018 <span class="comment"> * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00019"></a>00019 <span class="comment"> * DISCLAIMED. IN NO EVENT SHALL &lt;COPYRIGHT HOLDER&gt; BE LIABLE FOR ANY</span>
<a name="l00020"></a>00020 <span class="comment"> * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00021"></a>00021 <span class="comment"> * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00022"></a>00022 <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span>
<a name="l00023"></a>00023 <span class="comment"> * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00024"></a>00024 <span class="comment"> * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00025"></a>00025 <span class="comment"> * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="preprocessor">#pragma once</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span>
<a name="l00030"></a>00030 <span class="preprocessor">#include &lt;nih/basic/utils.h&gt;</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include &lt;<a class="code" href="functors_8h.html" title="Defines some general purpose functors.">nih/basic/functors.h</a>&gt;</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include &lt;<a class="code" href="scan_8h.html" title="Define CUDA based scan primitives.">nih/basic/cuda/scan.h</a>&gt;</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include &lt;<a class="code" href="cuda__config_8h.html" title="Defines a simple CUDA configuration class holding common constants.">nih/basic/cuda_config.h</a>&gt;</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include &lt;nih/thrust/iterator_wrapper.h&gt;</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include &lt;thrust/scan.h&gt;</span>
<a name="l00036"></a>00036 <span class="preprocessor">#include &lt;thrust/sort.h&gt;</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include &lt;thrust/iterator/constant_iterator.h&gt;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &lt;thrust/iterator/counting_iterator.h&gt;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &lt;thrust/iterator/reverse_iterator.h&gt;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;thrust/iterator/transform_iterator.h&gt;</span>
<a name="l00041"></a>00041 
<a name="l00042"></a>00042 <span class="keyword">namespace </span>nih {
<a name="l00043"></a>00043 <span class="keyword">namespace </span>cuda {
<a name="l00044"></a>00044 
<a name="l00045"></a>00045 <span class="keyword">namespace </span>sah {
<a name="l00046"></a>00046 
<a name="l00047"></a>00047 <span class="keyword">inline</span> <span class="keywordtype">void</span> start_timer(<span class="keyword">const</span> cudaEvent_t start, <span class="keyword">const</span> cudaEvent_t stop)
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049     cudaEventRecord( start, 0 );
<a name="l00050"></a>00050 }
<a name="l00051"></a>00051 <span class="keyword">inline</span> <span class="keywordtype">float</span> stop_timer(<span class="keyword">const</span> cudaEvent_t start, <span class="keyword">const</span> cudaEvent_t stop)
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053     <span class="keywordtype">float</span> dtime;
<a name="l00054"></a>00054     cudaEventRecord( stop, 0 );
<a name="l00055"></a>00055     cudaEventSynchronize( stop );
<a name="l00056"></a>00056     cudaEventElapsedTime( &amp;dtime, start, stop );
<a name="l00057"></a>00057     <span class="keywordflow">return</span> dtime;
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059 
<a name="l00060"></a>00060 FORCE_INLINE NIH_HOST_DEVICE uint32 <a class="code" href="group__bboxes.html#ga38d296764ec08b5bb7cb072460967e00">largest_axis</a>(<span class="keyword">const</span> float3 edge)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062     <span class="keywordflow">return</span> edge.x &gt; edge.y ?
<a name="l00063"></a>00063         (edge.x &gt; edge.z ? 0 : 2) :
<a name="l00064"></a>00064         (edge.y &gt; edge.z ? 1 : 2);
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066 
<a name="l00070"></a><a class="code" href="structnih_1_1cuda_1_1sah_1_1_bbox__compressor.html">00070</a> <span class="keyword">struct </span><a class="code" href="structnih_1_1cuda_1_1sah_1_1_bbox__compressor.html">Bbox_compressor</a>
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072     <span class="keyword">typedef</span> thrust::tuple&lt;uint32,Bbox4f&gt;    argument_type;
<a name="l00073"></a>00073     <span class="keyword">typedef</span> uint2                           result_type;
<a name="l00074"></a>00074 
<a name="l00075"></a>00075     <a class="code" href="structnih_1_1cuda_1_1sah_1_1_bbox__compressor.html">Bbox_compressor</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1cuda_1_1sah_1_1_bin.html">Bin</a>* bins) : m_bins( bins ) {}
<a name="l00076"></a>00076 
<a name="l00077"></a>00077     FORCE_INLINE NIH_HOST_DEVICE uint2 operator() (<span class="keyword">const</span> argument_type op)<span class="keyword"> const</span>
<a name="l00078"></a>00078 <span class="keyword">    </span>{
<a name="l00079"></a>00079         <span class="keyword">const</span> uint32 key = thrust::get&lt;0&gt;( op );
<a name="l00080"></a>00080         <span class="keywordflow">if</span> (key == uint32(-1))
<a name="l00081"></a>00081             <span class="keywordflow">return</span> make_uint2(0,0);
<a name="l00082"></a>00082 
<a name="l00083"></a>00083         <span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox4f</a> bbox = thrust::get&lt;1&gt;( op );
<a name="l00084"></a>00084 
<a name="l00085"></a>00085         <span class="keyword">const</span> float4 bmin = m_bins[ key-1 ].bmin;
<a name="l00086"></a>00086         <span class="keyword">const</span> float4 bmax = m_bins[ key-1 ].bmax;
<a name="l00087"></a>00087 
<a name="l00088"></a>00088         <span class="keyword">const</span> float3 delta = make_float3( bmax.x - bmin.x, bmax.y - bmin.y, bmax.z - bmin.z );
<a name="l00089"></a>00089 
<a name="l00090"></a>00090         <span class="keyword">const</span> uint32 axis = <a class="code" href="group__bboxes.html#ga38d296764ec08b5bb7cb072460967e00">largest_axis</a>( delta );
<a name="l00091"></a>00091 
<a name="l00092"></a>00092         uint32 l;
<a name="l00093"></a>00093         l  = delta.x &lt; 1.0e-8f ? 0u : quantize( (bbox[0][0] - bmin.x) / delta.x, 1024 );
<a name="l00094"></a>00094         l |= delta.y &lt; 1.0e-8f ? 0u : quantize( (bbox[0][1] - bmin.y) / delta.y, 1024 ) &lt;&lt; 10;
<a name="l00095"></a>00095         l |= delta.z &lt; 1.0e-8f ? 0u : quantize( (bbox[0][2] - bmin.z) / delta.z, 1024 ) &lt;&lt; 20;
<a name="l00096"></a>00096         l |= axis &lt;&lt; 30;
<a name="l00097"></a>00097 
<a name="l00098"></a>00098         uint32 r;
<a name="l00099"></a>00099         r  = delta.x &lt; 1.0e-8f ? 0u : quantize( (bbox[1][0] - bmin.x) / delta.x, 1024 );
<a name="l00100"></a>00100         r |= delta.y &lt; 1.0e-8f ? 0u : quantize( (bbox[1][1] - bmin.y) / delta.y, 1024 ) &lt;&lt; 10;
<a name="l00101"></a>00101         r |= delta.z &lt; 1.0e-8f ? 0u : quantize( (bbox[1][2] - bmin.z) / delta.z, 1024 ) &lt;&lt; 20;
<a name="l00102"></a>00102 
<a name="l00103"></a>00103         <span class="keywordflow">return</span> make_uint2( l, r );
<a name="l00104"></a>00104     }
<a name="l00105"></a>00105 
<a name="l00106"></a>00106     <span class="keyword">const</span> <a class="code" href="structnih_1_1cuda_1_1sah_1_1_bin.html">Bin</a>* m_bins;
<a name="l00107"></a>00107 };
<a name="l00108"></a>00108 
<a name="l00109"></a>00109 <span class="comment">// evaluate the new splits, choosing which ones to keep and which ones to discard.</span>
<a name="l00110"></a>00110 <span class="keywordtype">void</span> eval_splits(
<a name="l00111"></a>00111     <span class="keyword">const</span> uint32    n_nodes,
<a name="l00112"></a>00112           uint32*   split_planes,
<a name="l00113"></a>00113     <span class="keyword">const</span> <span class="keywordtype">float</span>*    split_costs,
<a name="l00114"></a>00114     <span class="keyword">const</span> uint32*   segment_heads,
<a name="l00115"></a>00115     uint32*         out_splits,
<a name="l00116"></a>00116     <span class="keyword">const</span> uint32    max_leaf_size,
<a name="l00117"></a>00117     <span class="keyword">const</span> <span class="keywordtype">float</span>     max_cost);
<a name="l00118"></a>00118 
<a name="l00119"></a>00119 <span class="comment">// assign objects to their new nodes</span>
<a name="l00120"></a>00120 <span class="keywordtype">void</span> assign_objects(
<a name="l00121"></a>00121     <span class="keyword">const</span> uint32    n_objects,
<a name="l00122"></a>00122     <span class="keyword">const</span> uint32    n_leaves,
<a name="l00123"></a>00123     <span class="keyword">const</span> uint32*   order,
<a name="l00124"></a>00124     <span class="keyword">const</span> uint32*   segment_keys,
<a name="l00125"></a>00125     <span class="keyword">const</span> uint32*   split_index,
<a name="l00126"></a>00126     <span class="keyword">const</span> uint32*   allocation_map,
<a name="l00127"></a>00127     uint32*         segment_ids,
<a name="l00128"></a>00128     uint32*         leaf_ids);
<a name="l00129"></a>00129 
<a name="l00130"></a>00130 <span class="comment">// compute the bounding box of the output segments</span>
<a name="l00131"></a>00131 <span class="keywordtype">void</span> compute_bins(
<a name="l00132"></a>00132     <span class="keyword">const</span> uint32    n_segments,
<a name="l00133"></a>00133     <span class="keyword">const</span> uint32    n_nodes,
<a name="l00134"></a>00134     <span class="keyword">const</span> uint32    n_leaves,
<a name="l00135"></a>00135     <span class="keyword">const</span> uint32    input_node_offset,
<a name="l00136"></a>00136     <span class="keyword">const</span> uint32*   split_index,
<a name="l00137"></a>00137     <span class="keyword">const</span> uint32*   allocation_map,
<a name="l00138"></a>00138     <span class="keyword">const</span> <a class="code" href="structnih_1_1cuda_1_1sah_1_1_bin.html">Bin</a>*      in_bins,
<a name="l00139"></a>00139     <span class="keyword">const</span> uint2*    bounds_l,
<a name="l00140"></a>00140     <span class="keyword">const</span> uint2*    bounds_r,
<a name="l00141"></a>00141     <a class="code" href="structnih_1_1cuda_1_1sah_1_1_bin.html">Bin</a>*            out_bins,
<a name="l00142"></a>00142     <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>*       bvh_nodes);
<a name="l00143"></a>00143 
<a name="l00144"></a>00144 <span class="comment">// setup the leaf array</span>
<a name="l00145"></a>00145 <span class="keywordtype">void</span> setup_leaves(
<a name="l00146"></a>00146     <span class="keyword">const</span> uint32    n_objects,
<a name="l00147"></a>00147     <span class="keyword">const</span> uint32*   leaf_ids,
<a name="l00148"></a>00148     uint2*          leaves);
<a name="l00149"></a>00149 
<a name="l00150"></a>00150 } <span class="comment">// namespace sah</span>
<a name="l00151"></a>00151 
<a name="l00152"></a>00152 <span class="comment">// build a bvh given a set of bboxes</span>
<a name="l00153"></a>00153 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Iterator&gt;
<a name="l00154"></a><a class="code" href="structnih_1_1cuda_1_1_sah__builder.html#a2d77a187b3d6f0d7a0a3fc7f3c0897a0">00154</a> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1cuda_1_1_sah__builder.html#a3530e18ffbe8e00d6e2835eb399f375e" title="build a bvh given a set of bboxes">Sah_builder::build</a>(
<a name="l00155"></a>00155     <span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox3f</a>    bbox,
<a name="l00156"></a>00156     <span class="keyword">const</span> Iterator  bbox_begin,
<a name="l00157"></a>00157     <span class="keyword">const</span> Iterator  bbox_end,
<a name="l00158"></a>00158     <span class="keyword">const</span> uint32    max_leaf_size,
<a name="l00159"></a>00159     <span class="keyword">const</span> <span class="keywordtype">float</span>     max_cost)
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161     <span class="keyword">const</span> uint32 n_objects = uint32( bbox_end - bbox_begin );
<a name="l00162"></a>00162 
<a name="l00163"></a>00163     need_space( *m_nodes,  n_objects*2 );
<a name="l00164"></a>00164     need_space( *m_leaves, n_objects );
<a name="l00165"></a>00165     need_space( *m_index,  n_objects );
<a name="l00166"></a>00166 
<a name="l00167"></a>00167     uint32 storage = 0;
<a name="l00168"></a>00168 
<a name="l00169"></a>00169     need_space( m_segment_heads, n_objects+1 );     storage += (n_objects+1) * <span class="keyword">sizeof</span>(uint32);
<a name="l00170"></a>00170     need_space( m_segment_keys,  n_objects );       storage += n_objects * <span class="keyword">sizeof</span>(uint32);
<a name="l00171"></a>00171 
<a name="l00172"></a>00172     need_space( m_queue_bins[0], n_objects / max_leaf_size );   storage += (n_objects / max_leaf_size) * <span class="keyword">sizeof</span>(<a class="code" href="structnih_1_1cuda_1_1_sah__builder_1_1_bin.html">Bin</a>);
<a name="l00173"></a>00173     need_space( m_queue_bins[1], n_objects / max_leaf_size );   storage += (n_objects / max_leaf_size) * <span class="keyword">sizeof</span>(<a class="code" href="structnih_1_1cuda_1_1_sah__builder_1_1_bin.html">Bin</a>);
<a name="l00174"></a>00174 
<a name="l00175"></a>00175     need_space( m_segment_ids,   n_objects );       storage += n_objects * <span class="keyword">sizeof</span>(uint32);
<a name="l00176"></a>00176     need_space( m_node_ids,      n_objects );       storage += n_objects * <span class="keyword">sizeof</span>(uint32);
<a name="l00177"></a>00177 
<a name="l00178"></a>00178     need_space( m_scan_bounds,   n_objects * 3 );   storage += n_objects*3 * <span class="keyword">sizeof</span>(uint2);
<a name="l00179"></a>00179     need_space( m_split_costs,   n_objects );       storage += n_objects   * <span class="keyword">sizeof</span>(float);
<a name="l00180"></a>00180     need_space( m_split_index,   n_objects );       storage += n_objects   * <span class="keyword">sizeof</span>(uint32);
<a name="l00181"></a>00181 
<a name="l00182"></a>00182     <span class="comment">// assign all objects to node 0</span>
<a name="l00183"></a>00183     thrust::fill( m_node_ids.begin(),  m_node_ids.begin()  + n_objects, 0 );
<a name="l00184"></a>00184 
<a name="l00185"></a>00185     thrust::fill( m_segment_keys.begin(),  m_segment_keys.begin()  + n_objects, 1u );
<a name="l00186"></a>00186     thrust::fill( m_segment_ids.begin(),   m_segment_ids.begin()   + n_objects, 1u );
<a name="l00187"></a>00187 
<a name="l00188"></a>00188     m_segment_heads[0] = 0;
<a name="l00189"></a>00189     m_segment_heads[1] = n_objects;
<a name="l00190"></a>00190 
<a name="l00191"></a>00191     thrust::device_vector&lt;float&gt;::iterator centroids = m_split_costs.begin();
<a name="l00192"></a>00192 
<a name="l00193"></a>00193     <span class="keywordtype">int</span> in_queue  = 0;
<a name="l00194"></a>00194     <span class="keywordtype">int</span> out_queue = 1;
<a name="l00195"></a>00195 
<a name="l00196"></a>00196     <span class="comment">// initialize root bounding box</span>
<a name="l00197"></a>00197     {
<a name="l00198"></a>00198         <a class="code" href="structnih_1_1cuda_1_1_sah__builder_1_1_bin.html">Bin</a> bin;
<a name="l00199"></a>00199         bin.bmin = make_float4( bbox[0][0],bbox[0][1],bbox[0][2],binary_cast&lt;float&gt;(n_objects) );
<a name="l00200"></a>00200         bin.bmax = make_float4( bbox[1][0],bbox[1][1],bbox[1][2],binary_cast&lt;float&gt;(Bvh_node::kInvalid) );
<a name="l00201"></a>00201         m_queue_bins[ in_queue ][0] = bin;
<a name="l00202"></a>00202     }
<a name="l00203"></a>00203 
<a name="l00204"></a>00204     m_counters.resize(2);
<a name="l00205"></a>00205     m_counters[0] = 0;
<a name="l00206"></a>00206     m_counters[1] = 0;
<a name="l00207"></a>00207 
<a name="l00208"></a>00208     uint32 input_node_offset = 0;
<a name="l00209"></a>00209     uint32 n_leaves          = 0;
<a name="l00210"></a>00210     uint32 n_nodes           = 1;
<a name="l00211"></a>00211     uint32 out_nodes         = 1;
<a name="l00212"></a>00212 
<a name="l00213"></a>00213     cudaEvent_t start, stop;
<a name="l00214"></a>00214     cudaEventCreate( &amp;start );
<a name="l00215"></a>00215     cudaEventCreate( &amp;stop );
<a name="l00216"></a>00216 
<a name="l00217"></a>00217     thrust::device_vector&lt;uint2&gt;::iterator bounds_l = m_scan_bounds.begin() + n_objects*0;
<a name="l00218"></a>00218     thrust::device_vector&lt;uint2&gt;::iterator bounds_r = m_scan_bounds.begin() + n_objects*1;
<a name="l00219"></a>00219     thrust::device_vector&lt;uint2&gt;::iterator bounds   = m_scan_bounds.begin() + n_objects*2;
<a name="l00220"></a>00220 
<a name="l00221"></a>00221     <span class="comment">//const float HUGE = 1.0e9f;</span>
<a name="l00222"></a>00222 
<a name="l00223"></a>00223     uint32 n_active_objects = n_objects;
<a name="l00224"></a>00224 
<a name="l00225"></a>00225     m_levels[0] = 0;
<a name="l00226"></a>00226     int32 level = 0;
<a name="l00227"></a>00227 
<a name="l00228"></a>00228     <span class="keywordflow">while</span> (out_nodes)
<a name="l00229"></a>00229     {
<a name="l00230"></a>00230         <span class="comment">// mark the beginning of the new level</span>
<a name="l00231"></a>00231         m_levels[ level++ ] = n_nodes;
<a name="l00232"></a>00232 
<a name="l00233"></a>00233         <span class="comment">// compress the bounds relative to their parents</span>
<a name="l00234"></a>00234         {
<a name="l00235"></a>00235             sah::start_timer( start, stop );
<a name="l00236"></a>00236 
<a name="l00237"></a>00237             <a class="code" href="structnih_1_1cuda_1_1sah_1_1_bbox__compressor.html">sah::Bbox_compressor</a> bbox_compressor(
<a name="l00238"></a>00238                 thrust::raw_pointer_cast( &amp;m_queue_bins[ in_queue ].front() ) );
<a name="l00239"></a>00239 
<a name="l00240"></a>00240             thrust::transform(
<a name="l00241"></a>00241                 thrust::make_zip_iterator( thrust::make_tuple( m_segment_ids.begin(), bbox_begin ) ),
<a name="l00242"></a>00242                 thrust::make_zip_iterator( thrust::make_tuple( m_segment_ids.begin(), bbox_begin ) ) + n_objects,
<a name="l00243"></a>00243                 bounds_l,
<a name="l00244"></a>00244                 bbox_compressor );
<a name="l00245"></a>00245 
<a name="l00246"></a>00246             m_compression_time += sah::stop_timer( start, stop );
<a name="l00247"></a>00247         }
<a name="l00248"></a>00248 
<a name="l00249"></a>00249         uint32 n_segments = out_nodes;
<a name="l00250"></a>00250 
<a name="l00251"></a>00251         <span class="comment">//</span>
<a name="l00252"></a>00252         <span class="comment">// Build the largest axis ordering for this pass. Basically, sort the</span>
<a name="l00253"></a>00253         <span class="comment">// objects by the segment they belong to and their centroid along the</span>
<a name="l00254"></a>00254         <span class="comment">// the largest axis of their segment.</span>
<a name="l00255"></a>00255         <span class="comment">//</span>
<a name="l00256"></a>00256         thrust::device_vector&lt;uint32&gt;::iterator order = m_index-&gt;begin();
<a name="l00257"></a>00257 
<a name="l00258"></a>00258         sah::start_timer( start, stop );
<a name="l00259"></a>00259 
<a name="l00260"></a>00260         sort(
<a name="l00261"></a>00261             n_objects,
<a name="l00262"></a>00262             m_segment_ids.begin(),
<a name="l00263"></a>00263             m_segment_keys.begin(),
<a name="l00264"></a>00264             bounds_l,
<a name="l00265"></a>00265             bounds,
<a name="l00266"></a>00266             bounds_r,
<a name="l00267"></a>00267             order,
<a name="l00268"></a>00268             n_active_objects,
<a name="l00269"></a>00269             n_segments );
<a name="l00270"></a>00270 
<a name="l00271"></a>00271         m_sorting_time += sah::stop_timer( start, stop );
<a name="l00272"></a>00272 
<a name="l00273"></a>00273         sah::start_timer( start, stop );
<a name="l00274"></a>00274 
<a name="l00275"></a>00275         eval_split_costs(
<a name="l00276"></a>00276             n_active_objects,
<a name="l00277"></a>00277             n_segments,
<a name="l00278"></a>00278             m_segment_keys.begin(),
<a name="l00279"></a>00279             m_segment_heads.begin(),
<a name="l00280"></a>00280             bounds,
<a name="l00281"></a>00281             bounds_l,
<a name="l00282"></a>00282             bounds_r,
<a name="l00283"></a>00283             m_split_costs.begin(),
<a name="l00284"></a>00284             m_split_index.begin() );
<a name="l00285"></a>00285 
<a name="l00286"></a>00286         thrust::device_ptr&lt;uint32&gt; allocation_map( (uint32*)thrust::raw_pointer_cast( &amp;*bounds ) );
<a name="l00287"></a>00287 
<a name="l00288"></a>00288         <span class="comment">// evaluate the new splits, choosing which ones to keep and which ones to discard</span>
<a name="l00289"></a>00289         sah::eval_splits(
<a name="l00290"></a>00290             n_segments,
<a name="l00291"></a>00291             thrust::raw_pointer_cast( &amp;m_split_index.front() ),
<a name="l00292"></a>00292             thrust::raw_pointer_cast( &amp;m_split_costs.front() ),
<a name="l00293"></a>00293             thrust::raw_pointer_cast( &amp;m_segment_heads.front() ),
<a name="l00294"></a>00294             thrust::raw_pointer_cast( &amp;*allocation_map ),
<a name="l00295"></a>00295             max_leaf_size,
<a name="l00296"></a>00296             max_cost );
<a name="l00297"></a>00297 
<a name="l00298"></a>00298         m_sah_split_time += sah::stop_timer( start, stop );
<a name="l00299"></a>00299 
<a name="l00300"></a>00300         sah::start_timer( start, stop );
<a name="l00301"></a>00301 
<a name="l00302"></a>00302         <span class="comment">// scan the split booleans to find out the new node offsets</span>
<a name="l00303"></a>00303         thrust::inclusive_scan( allocation_map, allocation_map + n_segments, allocation_map );
<a name="l00304"></a>00304 
<a name="l00305"></a>00305         <span class="keyword">const</span> uint32 n_splits = allocation_map[ n_segments-1 ];
<a name="l00306"></a>00306         out_nodes = n_splits*2;
<a name="l00307"></a>00307 
<a name="l00308"></a>00308         <span class="comment">// assign the objects to their new nodes</span>
<a name="l00309"></a>00309         sah::assign_objects(
<a name="l00310"></a>00310             n_active_objects,
<a name="l00311"></a>00311             n_leaves,
<a name="l00312"></a>00312             thrust::raw_pointer_cast( &amp;*order ),
<a name="l00313"></a>00313             thrust::raw_pointer_cast( &amp;m_segment_keys.front() ),
<a name="l00314"></a>00314             thrust::raw_pointer_cast( &amp;m_split_index.front() ),
<a name="l00315"></a>00315             thrust::raw_pointer_cast( &amp;*allocation_map ),
<a name="l00316"></a>00316             thrust::raw_pointer_cast( &amp;m_segment_ids.front() ),
<a name="l00317"></a>00317             thrust::raw_pointer_cast( &amp;m_node_ids.front() ) );
<a name="l00318"></a>00318 
<a name="l00319"></a>00319         <span class="comment">// realloc the output queue bins if needed</span>
<a name="l00320"></a>00320         storage -= <span class="keyword">sizeof</span>(<a class="code" href="structnih_1_1cuda_1_1_sah__builder_1_1_bin.html">Bin</a>) * m_queue_bins[ out_queue ].size();
<a name="l00321"></a>00321         need_space( m_queue_bins[ out_queue ], out_nodes );
<a name="l00322"></a>00322         storage += <span class="keyword">sizeof</span>(<a class="code" href="structnih_1_1cuda_1_1_sah__builder_1_1_bin.html">Bin</a>) * m_queue_bins[ out_queue ].size();
<a name="l00323"></a>00323 
<a name="l00324"></a>00324         <span class="comment">// compute the bounding box of the output segments</span>
<a name="l00325"></a>00325         sah::compute_bins(
<a name="l00326"></a>00326             n_segments,
<a name="l00327"></a>00327             n_nodes,
<a name="l00328"></a>00328             n_leaves,
<a name="l00329"></a>00329             input_node_offset,
<a name="l00330"></a>00330             thrust::raw_pointer_cast( &amp;m_split_index.front() ),
<a name="l00331"></a>00331             thrust::raw_pointer_cast( &amp;*allocation_map ),
<a name="l00332"></a>00332             thrust::raw_pointer_cast( &amp;m_queue_bins[ in_queue ].front() ),
<a name="l00333"></a>00333             thrust::raw_pointer_cast( &amp;*bounds_l ),
<a name="l00334"></a>00334             thrust::raw_pointer_cast( &amp;*bounds_r ),
<a name="l00335"></a>00335             thrust::raw_pointer_cast( &amp;m_queue_bins[ out_queue ].front() ),
<a name="l00336"></a>00336             thrust::raw_pointer_cast( &amp;m_nodes-&gt;front() ) );
<a name="l00337"></a>00337 
<a name="l00338"></a>00338         m_distribute_objects_time += sah::stop_timer( start, stop );
<a name="l00339"></a>00339 
<a name="l00340"></a>00340         input_node_offset = n_nodes;
<a name="l00341"></a>00341 
<a name="l00342"></a>00342         n_nodes  += out_nodes;
<a name="l00343"></a>00343         n_leaves += (n_segments - n_splits);
<a name="l00344"></a>00344 
<a name="l00345"></a>00345         std::swap( in_queue, out_queue );
<a name="l00346"></a>00346     }
<a name="l00347"></a>00347 
<a name="l00348"></a>00348     m_level_count = level;
<a name="l00349"></a>00349     <span class="keywordflow">for</span> (; level &lt; 128; ++level)
<a name="l00350"></a>00350         m_levels[ level ] = n_nodes;
<a name="l00351"></a>00351 
<a name="l00352"></a>00352     <span class="comment">// sort the objects by their leaf id</span>
<a name="l00353"></a>00353     thrust::copy( thrust::make_counting_iterator(0u), thrust::make_counting_iterator(0u) + n_objects, m_index-&gt;begin() );
<a name="l00354"></a>00354     thrust::sort_by_key( m_node_ids.begin(), m_node_ids.begin() + n_objects, m_index-&gt;begin() );
<a name="l00355"></a>00355 
<a name="l00356"></a>00356     <span class="comment">// setup leaf ranges</span>
<a name="l00357"></a>00357     sah::setup_leaves(
<a name="l00358"></a>00358         n_objects,
<a name="l00359"></a>00359         thrust::raw_pointer_cast( &amp;m_node_ids.front() ),
<a name="l00360"></a>00360         thrust::raw_pointer_cast( &amp;m_leaves-&gt;front() ) );
<a name="l00361"></a>00361 
<a name="l00362"></a>00362     m_leaf_count = n_leaves;
<a name="l00363"></a>00363     m_node_count = n_nodes;
<a name="l00364"></a>00364 
<a name="l00365"></a>00365     cudaEventDestroy( start );
<a name="l00366"></a>00366     cudaEventDestroy( stop );
<a name="l00367"></a>00367 
<a name="l00368"></a>00368     m_temp_storage = <a class="code" href="group__vectors.html#gab2b34b1991185fc29890973777b60e54">nih::max</a>( storage, m_temp_storage );
<a name="l00369"></a>00369 }
<a name="l00370"></a>00370 
<a name="l00371"></a>00371 } <span class="comment">// namespace cuda</span>
<a name="l00372"></a>00372 } <span class="comment">// namespace nih</span>
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